OpenRaiser/Intern-Atlas huggingface dataset:
Joint Optimization-based Targetless Extrinsic Calibration for Multiple LiDARs and GNSS-Aided INS of Ground Vehicles
Venue: arXiv cs.RO 2025
Year: 2025

Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road collaboration by aligning perception data from vehicle-mounted sensors to a unified global reference frame. However, existing methods often depend on artificial targets, overlapping fields of view, or precise trajectory estimation, which are assumptions that may not hold in practice. Moreover, the planar motion of mining vehicles leads to observability issues that degrade calibration performance. This paper presents a targetless extrinsic calibration method that aligns multiple onboard LiDAR sensors to the GINS coordinate system without requiring overlapping sensor views or external targets. The proposed approach introduces an observation model based on the known installation height of the GINS unit to constrain unobservable calibration parameters under planar motion. A joint optimization framework is developed to refine both the extrinsic parameters and GINS trajectory by integrating multiple constraints derived from geometric correspondences and motion consistency. The proposed method is applicable to heterogeneous LiDAR configurations, including both mechanical and solid-state sensors. Extensive experiments on simulated and real-world datasets demonstrate the accuracy, robustness, and practical applicability of the approach under diverse sensor setups.
Exploring Design of Multi-Agent LLM Dialogues for Research Ideation
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) are increasingly used to support creative tasks such as research idea generation. While recent work has shown that structured dialogues between LLMs can improve the novelty and feasibility of generated ideas, the optimal design of such interactions remains unclear. In this study, we conduct a comprehensive analysis of multi-agent LLM dialogues for scientific ideation. We compare different configurations of agent roles, number of agents, and dialogue depth to understand how these factors influence the novelty and feasibility of generated ideas. Our experimental setup includes settings where one agent generates ideas and another critiques them, enabling iterative improvement. Our results show that enlarging the agent cohort, deepening the interaction depth, and broadening agent persona heterogeneity each enrich the diversity of generated ideas. Moreover, specifically increasing critic-side diversity within the ideation-critique-revision loop further boosts the feasibility of the final proposals. Our findings offer practical guidelines for building effective multi-agent LLM systems for scientific ideation. Our code is available at https://github.com/g6000/MultiAgent-Research-Ideator.
Cycle Context Verification for In-Context Medical Image Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

In-context learning (ICL) is emerging as a promising technique for achieving universal medical image segmentation, where a variety of objects of interest across imaging modalities can be segmented using a single model. Nevertheless, its performance is highly sensitive to the alignment between the query image and in-context image-mask pairs. In a clinical scenario, the scarcity of annotated medical images makes it challenging to select optimal in-context pairs, and fine-tuning foundation ICL models on contextual data is infeasible due to computational costs and the risk of catastrophic forgetting. To address this challenge, we propose Cycle Context Verification (CCV), a novel framework that enhances ICL-based medical image segmentation by enabling self-verification of predictions and accordingly enhancing contextual alignment. Specifically, CCV employs a cyclic pipeline in which the model initially generates a segmentation mask for the query image. Subsequently, the roles of the query and an in-context pair are swapped, allowing the model to validate its prediction by predicting the mask of the original in-context image. The accuracy of this secondary prediction serves as an implicit measure of the initial query segmentation. A query-specific prompt is introduced to alter the query image and updated to improve the measure, thereby enhancing the alignment between the query and in-context pairs. We evaluated CCV on seven medical image segmentation datasets using two ICL foundation models, demonstrating its superiority over existing methods. Our results highlight CCV's ability to enhance ICL-based segmentation, making it a robust solution for universal medical image segmentation. The code will be available at https://github.com/ShishuaiHu/CCV.
Leveraging Machine Learning and Enhanced Parallelism Detection for BPMN Model Generation from Text
Venue: arXiv cs.LG 2025
Year: 2025

Efficient planning, resource management, and consistent operations often rely on converting textual process documents into formal Business Process Model and Notation (BPMN) models. However, this conversion process remains time-intensive and costly. Existing approaches, whether rule-based or machine-learning-based, still struggle with writing styles and often fail to identify parallel structures in process descriptions. This paper introduces an automated pipeline for extracting BPMN models from text, leveraging the use of machine learning and large language models. A key contribution of this work is the introduction of a newly annotated dataset, which significantly enhances the training process. Specifically, we augment the PET dataset with 15 newly annotated documents containing 32 parallel gateways for model training, a critical feature often overlooked in existing datasets. This addition enables models to better capture parallel structures, a common but complex aspect of process descriptions. The proposed approach demonstrates adequate performance in terms of reconstruction accuracy, offering a promising foundation for organizations to accelerate BPMN model creation.
Understanding Driving Risks using Large Language Models: Toward Elderly Driver Assessment
Venue: arXiv cs.CV 2025
Year: 2025

This study investigates the potential of a multimodal large language model (LLM), specifically ChatGPT-4o, to perform human-like interpretations of traffic scenes using static dashcam images. Herein, we focus on three judgment tasks relevant to elderly driver assessments: evaluating traffic density, assessing intersection visibility, and recognizing stop signs recognition. These tasks require contextual reasoning rather than simple object detection. Using zero-shot, few-shot, and multi-shot prompting strategies, we evaluated the performance of the model with human annotations serving as the reference standard. Evaluation metrics included precision, recall, and F1-score. Results indicate that prompt design considerably affects performance, with recall for intersection visibility increasing from 21.7% (zero-shot) to 57.0% (multi-shot). For traffic density, agreement increased from 53.5% to 67.6%. In stop-sign detection, the model demonstrated high precision (up to 86.3%) but a lower recall (approximately 76.7%), indicating a conservative response tendency. Output stability analysis revealed that humans and the model faced difficulties interpreting structurally ambiguous scenes. However, the model's explanatory texts corresponded with its predictions, enhancing interpretability. These findings suggest that, with well-designed prompts, LLMs hold promise as supportive tools for scene-level driving risk assessments. Future studies should explore scalability using larger datasets, diverse annotators, and next-generation model architectures for elderly driver assessments.
Improving Korean-English Cross-Lingual Retrieval: A Data-Centric Study of Language Composition and Model Merging
Venue: arXiv cs.IR 2025
Year: 2025

With the increasing utilization of multilingual text information, Cross-Lingual Information Retrieval (CLIR) has become a crucial research area. However, the impact of training data composition on both CLIR and Mono-Lingual Information Retrieval (IR) performance remains under-explored. To systematically investigate this data-centric aspect, we construct linguistically parallel Korean-English datasets and train retrieval models with various language combinations. Our experiments reveal that the language composition of training data significantly influences IR performance, exhibiting important inter-lingual correlations: CLIR performance improves with specific language pairs, while Mono-Lingual IR performance declines. Our work demonstrates that Model Merging can effectively mitigate this trade-off, achieving strong CLIR results while preserving Mono-Lingual IR capabilities. Our findings underscore the effects of linguistic configuration of training data on both CLIR and Mono-Lingual IR, and present Model Merging as a viable strategy to optimize performance across these tasks.
From Language to Logic: A Bi-Level Framework for Structured Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

Structured reasoning over natural language inputs remains a core challenge in artificial intelligence, as it requires bridging the gap between unstructured linguistic expressions and formal logical representations. In this paper, we propose a novel \textbf{bi-level framework} that maps language to logic through a two-stage process: high-level task abstraction and low-level logic generation. At the upper level, a large language model (LLM) parses natural language queries into intermediate structured representations specifying the problem type, objectives, decision variables, and symbolic constraints. At the lower level, the LLM uses these representations to generate symbolic workflows or executable reasoning programs for accurate and interpretable decision making. The framework supports modular reasoning, enforces explicit constraints, and generalizes across domains such as mathematical problem solving, question answering, and logical inference. We further optimize the framework with an end-to-end {bi-level} optimization approach that jointly refines both the high-level abstraction and low-level logic generation stages. Experiments on multiple realistic reasoning benchmarks demonstrate that our approach significantly outperforms existing baselines in accuracy, with accuracy gains reaching as high as 40\%. Moreover, the bi-level design enhances transparency and error traceability, offering a promising step toward trustworthy and systematic reasoning with LLMs.
Stabilizing and Optimizing Inter-Shell Routing in LEO Networks with Integrated Routing Cost
Venue: arXiv cs.NI 2025
Year: 2025

The low Earth orbit (LEO) mega-constellation network (LMCN), which uses thousands of satellites across multi-shell architectures to deliver different services, is facing challenges in inter-shell routing stability due to dynamic network topologies and frequent inter-satellite link (ISL) switching. Existing strategies, such as the Minimum Hop Path set, prioritize minimizing hop counts to reduce latency, but ignore ISL switching costs, which leads to high instability. To overcome this, the Adaptive Path Routing Scheme introduces path similarity thresholds to reduce the ISL switching frequency between shells. However, the greedy approach of Adaptive Path Routing Scheme is often trapped in local optima, sacrificing inter-shell path distance efficiency. To address these limitations, we propose the Dynamic Programming-based Integrated Routing Cost (DP-IRC) algorithm, which is designed explicitly for inter-shell routing optimization. By formulating multi-shell paths as a multistage decision problem, DP-IRC balances hop counts and ISL stability through an Integrated Routing Cost (IRC) metric, combining inter-/intra-shell hops and switching costs. Experiments over 60 time slots with real-world Starlink and OneWeb configurations show that DP-IRC reduces inter-shell ISL switching rates by 39.1% and 22.0% compared to the Minimum Hop Path set strategy and Adaptive Path Routing Scheme, respectively, while still maintaining near-optimal end-to-end distances.
Image Translation with Kernel Prediction Networks for Semantic Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Semantic segmentation relies on many dense pixel-wise annotations to achieve the best performance, but owing to the difficulty of obtaining accurate annotations for real world data, practitioners train on large-scale synthetic datasets. Unpaired image translation is one method used to address the ensuing domain gap by generating more realistic training data in low-data regimes. Current methods for unpaired image translation train generative adversarial networks (GANs) to perform the translation and enforce pixel-level semantic matching through cycle consistency. These methods do not guarantee that the semantic matching holds, posing a problem for semantic segmentation where performance is sensitive to noisy pixel labels. We propose a novel image translation method, Domain Adversarial Kernel Prediction Network (DA-KPN), that guarantees semantic matching between the synthetic label and translation. DA-KPN estimates pixel-wise input transformation parameters of a lightweight and simple translation function. To ensure the pixel-wise transformation is realistic, DA-KPN uses multi-scale discriminators to distinguish between translated and target samples. We show DA-KPN outperforms previous GAN-based methods on syn2real benchmarks for semantic segmentation with limited access to real image labels and achieves comparable performance on face parsing.
AbbIE: Autoregressive Block-Based Iterative Encoder for Efficient Sequence Modeling
Venue: arXiv cs.LG 2025
Year: 2025

We introduce the Autoregressive Block-Based Iterative Encoder (AbbIE), a novel recursive generalization of the encoder-only Transformer architecture, which achieves better perplexity than a standard Transformer and allows for the dynamic scaling of compute resources at test time. This simple, recursive approach is a complement to scaling large language model (LLM) performance through parameter and token counts. AbbIE performs its iterations in latent space, but unlike latent reasoning models, does not require a specialized dataset or training protocol. We show that AbbIE upward generalizes (ability to generalize to arbitrary iteration lengths) at test time by only using 2 iterations during train time, far outperforming alternative iterative methods. AbbIE's ability to scale its computational expenditure based on the complexity of the task gives it an up to \textbf{12\%} improvement in zero-shot in-context learning tasks versus other iterative and standard methods and up to 5\% improvement in language perplexity. The results from this study open a new avenue to Transformer performance scaling. We perform all of our evaluations on model sizes up to 350M parameters.
Learning to Transmit Over Unknown Erasure Channels with Empirical Erasure Rate Feedback
Venue: arXiv cs.IT 2025
Year: 2025

We address the problem of reliable data transmission within a finite time horizon $T$ over a binary erasure channel with unknown erasure probability. We consider a feedback model wherein the transmitter can query the receiver infrequently and obtain the empirical erasure rate experienced by the latter. We aim to minimize a regret quantity, i.e. how much worse a strategy performs compared to an oracle who knows the probability of erasure, while operating at the same block error rate. A learning vs. exploitation dilemma manifests in this scenario -- specifically, we need to balance between (i) learning the erasure probability with reasonable accuracy and (ii) utilizing the channel to transmit as many information bits as possible. We propose two strategies: (i) a two-phase approach using rate estimation followed by transmission that achieves an $O({T}^{\frac 23})$ regret using only one query, and (ii) a windowing strategy using geometrically-increasing window sizes that achieves an $O({\sqrt{T}})$ regret using $O(\log(T))$ queries.
Fast and Efficient Merge of Sorted Input Lists in Hardware Using List Offset Merge Sorters
Venue: arXiv cs.AR 2025
Year: 2025

A new set of hardware merge sort devices are introduced here, which merge multiple sorted input lists into a single sorted output list in a fast and efficient manner. In each merge sorter, the values from the sorted input lists are arranged in an input 2-D setup array, but with the order of each sorted input list offset from the order of each of the other sorted input lists. In these new devices, called List Offset Merge Sorters (LOMS), a minimal set of column sort stages alternating with row sort stages process the input setup array into a final output array, now in the defined sorted order. LOMS 2-way sorters, which merge 2 sorted input lists, require only 2 merge stages and are significantly faster than Kenneth Batcher's previous state-of-the-art 2-way merge devices, Bitonic Merge Sorters and Odd-Even Merge Sorters. LOMS 2-way sorters utilize the recently-introduced Single-Stage 2-way Merge Sorters (S2MS) in their first stage. Both LOMS and S2MS devices can merge any mixture of input list sizes, while Batcher's merge sorters are difficult to design unless the 2 input lists are equal, and a power-of-2. By themselves, S2MS devices are the fastest 2-way merge sorters when implemented in this study's target FPGA devices, but they tend to use a large number of LUT resources. LOMS 2-way devices use fewer resources than comparable S2MS devices, enabling some large LOMS devices to be implemented in a given FPGA when comparable S2MS devices cannot fit in that FPGA. A List Offset 2-way sorter merges 2 lists, each with 32 values, into a sorted output list of those 64 values in 2.24 nS, a speedup of 2.63 versus a comparable Batcher device. A LOMS 3-way merge sorter, merging 3 sorted input lists with 7 values, fully merges the 21 values in 3.4 nS, a speedup of 1.36 versus the comparable state-of-the-art 3-way merge device.
Qualitative Assessment of Low Power Wide Area Network Protocols and their Security Aspect
Venue: arXiv cs.NI 2025
Year: 2025

There are currently many communication options in the Internet of Things, even in particular areas such as constrained and battery-powered devices, such as Low Power Wide Area Networks. Understanding the differences and characteristics of each option is a challenge, even for professionals and researchers in the field. To meet this need, this work analyses the qualitative characteristics of Low Power Wide Area Network protocols and the challenges and opportunities of using constrained devices for sparse networks based on long-life batteries. For this study, a bibliographic survey of the literature was carried out as an analysis of three protocols (LoRaWAN, NB-IoT, and Sigfox), and a detailing of the first one. As a result, there is a discussion about the chosen network protocol and its use in IoT solutions with sparse sensors.
Beer Path Problems in Temporal Graphs
Venue: arXiv cs.DS 2025
Year: 2025

Computing paths in graph structures is a fundamental operation in a wide range of applications, from transportation networks to data analysis. The beer path problem, which captures the option of visiting points of interest, such as gas stations or convenience stops, prior to reaching the final destination, has been recently introduced and extensively studied in static graphs. However, existing approaches do not account for temporal information, which is often crucial in real-world scenarios. For instance, transit services may follow fixed schedules, and shops may only be accessible during certain hours. In this work, we introduce the notion of beer paths in temporal graphs, where edges are time-dependent and certain vertices (beer vertices) are active only at specific time instances. We formally define the problems of computing earliest-arrival, latest-departure, fastest, and shortest temporal beer paths and propose efficient algorithms for these problems under both edge stream and adjacency list representations. The time complexity of each of our algorithms is aligned with that of corresponding temporal pathfinding algorithms, thus preserving efficiency. Additionally, we present preprocessing techniques that enable efficient query answering under dynamic conditions, for example new openings or closings of shops. We achieve this through appropriate precomputation of selected paths or by transforming a temporal graph into an equivalent static graph.
Domain-Informed Operation Excellence of Gas Turbine System with Machine Learning
Venue: arXiv cs.LG 2025
Year: 2025

The domain-consistent adoption of artificial intelligence (AI) remains low in thermal power plants due to the black-box nature of AI algorithms and low representation of domain knowledge in conventional data-centric analytics. In this paper, we develop a MAhalanobis Distance-based OPTimization (MAD-OPT) framework that incorporates the Mahalanobis distance-based constraint to introduce domain knowledge into data-centric analytics. The developed MAD-OPT framework is applied to maximize thermal efficiency and minimize turbine heat rate for a 395 MW capacity gas turbine system. We demonstrate that the MAD-OPT framework can estimate domain-informed optimal process conditions under different ambient conditions, and the optimal solutions are found to be robust as evaluated by Monte Carlo simulations. We also apply the MAD-OPT framework to estimate optimal process conditions beyond the design power generation limit of the gas turbine system, and have found comparable results with the actual data of the power plant. We demonstrate that implementing data-centric optimization analytics without incorporating domain-informed constraints may provide ineffective solutions that may not be implementable in the real operation of the gas turbine system. This research advances the integration of the data-driven domain knowledge into machine learning-powered analytics that enhances the domain-informed operation excellence and paves the way for safe AI adoption in thermal power systems.
elsciRL: Integrating Language Solutions into Reinforcement Learning Problem Settings
Venue: arXiv cs.AI 2025
Year: 2025

We present elsciRL, an open-source Python library to facilitate the application of language solutions on reinforcement learning problems. We demonstrate the potential of our software by extending the Language Adapter with Self-Completing Instruction framework defined in (Osborne, 2024) with the use of LLMs. Our approach can be re-applied to new applications with minimal setup requirements. We provide a novel GUI that allows a user to provide text input for an LLM to generate instructions which it can then self-complete. Empirical results indicate that these instructions \textit{can} improve a reinforcement learning agent's performance. Therefore, we present this work to accelerate the evaluation of language solutions on reward based environments to enable new opportunities for scientific discovery.